CN116575832A - Electric back door control method and device, vehicle and storage medium - Google Patents
Electric back door control method and device, vehicle and storage medium Download PDFInfo
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- CN116575832A CN116575832A CN202310670669.0A CN202310670669A CN116575832A CN 116575832 A CN116575832 A CN 116575832A CN 202310670669 A CN202310670669 A CN 202310670669A CN 116575832 A CN116575832 A CN 116575832A
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- 230000007613 environmental effect Effects 0.000 claims abstract description 26
- 238000004590 computer program Methods 0.000 claims description 21
- 230000004913 activation Effects 0.000 claims description 10
- 230000003213 activating effect Effects 0.000 claims description 5
- 238000003062 neural network model Methods 0.000 claims description 4
- 230000006870 function Effects 0.000 description 11
- 230000008569 process Effects 0.000 description 8
- 238000003825 pressing Methods 0.000 description 5
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- 230000008878 coupling Effects 0.000 description 3
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Classifications
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/70—Power-operated mechanisms for wings with automatic actuation
- E05F15/73—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60J—WINDOWS, WINDSCREENS, NON-FIXED ROOFS, DOORS, OR SIMILAR DEVICES FOR VEHICLES; REMOVABLE EXTERNAL PROTECTIVE COVERINGS SPECIALLY ADAPTED FOR VEHICLES
- B60J5/00—Doors
- B60J5/10—Doors arranged at the vehicle rear
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/60—Power-operated mechanisms for wings using electrical actuators
- E05F15/603—Power-operated mechanisms for wings using electrical actuators using rotary electromotors
- E05F15/611—Power-operated mechanisms for wings using electrical actuators using rotary electromotors for swinging wings
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Abstract
The application provides an electric back door control method, an electric back door control device, a vehicle and a storage medium. The method comprises the following steps: when the vehicle is detected to be switched to the parking gear, acquiring initial environment information behind the vehicle; when a back door opening signal is received, determining whether a sensor needs to be activated or not according to initial environment information behind the vehicle and the back door opening signal; if yes, the sensor is controlled to be activated, a first safety distance behind the vehicle is determined according to the current environmental information detected by the sensor, and the opening of the back door is determined; if not, determining a second safety distance behind the vehicle according to the initial environment information, and determining the opening degree; and controlling the back door to be opened according to the opening degree. According to the application, whether the sensor needs to be activated is determined according to the initial environmental information and the back door opening signal, the sensor does not need to be opened every time the back door is opened, and the power consumption is effectively reduced.
Description
Technical Field
The present application relates to the field of vehicle technologies, and in particular, to a method and apparatus for controlling an electric back door, a vehicle, and a storage medium.
Background
With the development of the automobile industry, automobiles are increasingly involved in our schedule life and work, and are more in various scenes and demands, and intelligent service of the automobiles is an increasingly important bright spot and selling spot of the automobiles. In order to improve the intelligent level of a vehicle, an electric back door is generally configured for the vehicle, and the vehicle is automatically opened after receiving a door opening signal.
In the prior art, the sensor is activated to detect rear obstacles when a back door opening signal is received, collision is avoided when the back door is opened, the sensor is required to be activated every time the back door is opened, and power consumption is high.
Disclosure of Invention
The embodiment of the application provides an electric back door control method, an electric back door control device, a vehicle and a storage medium, which are used for solving the problems that in the prior art, a sensor is required to be started every time the back door is opened, and the power consumption is high.
In a first aspect, an embodiment of the present application provides an electric back door control method, which is applied to a vehicle, where a sensor is disposed on the vehicle; the method comprises the following steps:
when the vehicle is detected to be switched to the parking gear, acquiring initial environment information behind the vehicle;
when a back door opening signal is received, determining whether a sensor needs to be activated or not according to initial environment information behind the vehicle and the back door opening signal;
if yes, the sensor is controlled to be activated, current environment information, detected by the sensor, of the rear of the vehicle is obtained, a first safety distance of the rear of the vehicle is determined according to the current environment information, and the opening of the back door is determined according to the first safety distance;
if not, determining a second safety distance behind the vehicle according to the initial environment information, and determining the opening of the back door according to the second safety distance;
and controlling the back door to be opened according to the opening degree.
In a second aspect, an embodiment of the present application provides an electric back door control device, which is applied to a vehicle, and the vehicle is provided with a sensor; the device comprises:
the parameter acquisition module is used for acquiring initial environment information behind the vehicle when the vehicle is detected to be switched to the parking gear;
the activation judging module is used for determining whether the sensor needs to be activated or not according to initial environment information behind the vehicle and the back door opening signal when the back door opening signal is received;
the first opening determining module is used for controlling the sensor to be activated if the vehicle is in the vehicle-mounted state, acquiring current environment information of the rear of the vehicle detected by the sensor, determining a first safety distance of the rear of the vehicle according to the current environment information, and determining the opening of the back door according to the first safety distance;
the second opening determining module is used for determining a second safety distance behind the vehicle according to the initial environment information and determining the opening of the back door according to the second safety distance if not;
and the opening module is used for controlling the back door to be opened according to the opening degree.
In a third aspect, an embodiment of the present application provides a vehicle comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the electric tailgate control method as described above in the first aspect or any one of the possible implementations of the first aspect when the computer program is executed.
In a fourth aspect, embodiments of the present application provide a computer readable storage medium storing a computer program which, when executed by a processor, implements the steps of the electric back door control method as described above in the first aspect or any one of the possible implementations of the first aspect.
The embodiment of the application provides an electric back door control method, an electric back door control device, a vehicle and a storage medium, wherein the method is applied to the vehicle, and a sensor is arranged on the vehicle; the method comprises the following steps: when the vehicle is detected to be switched to the parking gear, acquiring initial environment information behind the vehicle; when a back door opening signal is received, determining whether a sensor needs to be activated or not according to initial environment information behind the vehicle and the back door opening signal; if yes, the sensor is controlled to be activated, current environment information, detected by the sensor, of the rear of the vehicle is obtained, a first safety distance of the rear of the vehicle is determined according to the current environment information, and the opening of the back door is determined according to the first safety distance; if not, determining a second safety distance behind the vehicle according to the initial environment information, and determining the opening of the back door according to the second safety distance; and controlling the back door to be opened according to the opening degree. According to the embodiment of the application, initial environment information is acquired during parking, and whether the sensor needs to be activated for rechecking is comprehensively judged according to the back door opening signal and the initial environment information when the back door opening signal is received, so that the sensor does not need to be activated every time the door is opened, and the power consumption is greatly reduced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of an implementation of an electric back door control method according to an embodiment of the present application;
FIG. 2 is an interaction diagram of various controllers provided by an embodiment of the present application;
fig. 3 is a schematic structural view of an electric back door control device according to an embodiment of the present application;
fig. 4 is a schematic view of an automobile according to an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the following description will be made by way of specific embodiments with reference to the accompanying drawings.
Referring to fig. 1, a flowchart of an implementation of the electric back door control method provided by the embodiment of the application is shown, and the method is applied to a vehicle, and the back door of the vehicle is an electric back door. For example, the execution subject of the electric tailgate control method may be a controller of the vehicle, or a tailgate controller on the vehicle, or may be another controller of the vehicle that can control the tailgate, and is not particularly limited herein. The vehicle is provided with a sensor which can be used for collecting environmental information behind the vehicle, such as a camera or a laser radar, etc., and is not limited in this particular case.
The above method is described in detail as follows:
s101: when the vehicle is detected to be switched to the parking gear, acquiring initial environment information behind the vehicle;
in general, a driver parks the vehicle into a garage, and the driver controls the back door to open after entering a parking gear (P gear). Since the vehicle is usually backed up when in warehouse entry, the environmental information behind the vehicle needs to be detected. Based on the above, the embodiment of the application directly acquires the environment information (namely, the initial environment information) at the rear after the vehicle enters the parking gear.
S102: when a back door opening signal is received, determining whether a sensor needs to be activated or not according to initial environment information behind the vehicle and the back door opening signal;
in the prior art, a plurality of door opening modes are available for the back door, such as key opening, kick opening, switch opening and the like, and different door opening modes correspond to different back door opening signals. For example, some vehicles are equipped with a kick sensor that controls the opening of the tailgate when a kick motion is detected; when the foot kicks are opened, the fact that a door opener is behind the automobile is indicated, and because the door opener is behind the automobile, when the back door is opened and collision risks exist, the door opener can take measures in time to avoid collision, and at the moment, a sensor does not need to be activated.
For another example, when the vehicle is behind a wall, no other obstacle is usually present, and the rear safety distance can be determined directly according to the initial environmental information, and the back door is opened without activating the sensor.
Based on the above, the embodiment of the application comprehensively considers the initial environment information and the back door opening signal to determine whether the sensor needs to be activated, and the sensor does not need to be activated when the sensor needs to be activated, so that the power consumption is reduced.
S103: if yes, the sensor is controlled to be activated, current environment information, detected by the sensor, of the rear of the vehicle is obtained, a first safety distance of the rear of the vehicle is determined according to the current environment information, and the opening of the back door is determined according to the first safety distance;
s104: if not, determining a second safety distance behind the vehicle according to the initial environment information, and determining the opening of the back door according to the second safety distance;
based on the above, when the sensor is not required to be activated, the first safety distance can be determined directly according to the initial environmental information obtained when the vehicle is parked, and then the opening of the back door is determined. When the sensor needs to be activated, the sensor re-collects environmental information behind the vehicle (the sensor may be a camera or a laser radar, may be disposed behind the vehicle, and is used for detecting the environmental information behind the vehicle), that is, current environmental information, updates the safety distance according to the current environmental information, and determines the opening of the back door according to the updated safety distance (second safety distance).
The first safety distance and the second safety distance are the safety distances between the vehicle tail and the obstacle in the horizontal direction, namely, the vehicle tail and the obstacle cannot collide within the distance range.
The opening degree of the back door is the opening angle of the back door.
S105: and controlling the back door to be opened according to the opening degree.
According to the embodiment of the application, initial environment information is acquired during parking, whether the sensor needs to be activated for rechecking is comprehensively judged according to the back door opening signal and the initial environment information when the back door opening signal is received, and if the sensor needs to be rechecked and activated again, the sensor does not need to be activated when the back door is opened each time, so that the power consumption is greatly reduced on the premise of ensuring the safety of opening the door. Meanwhile, the acquired environmental information needs to be subjected to data processing, and accordingly computing resources are also greatly saved.
In one possible implementation, S101 may include:
s1011: when the vehicle is detected to be switched to the parking gear, the initial environmental information, detected by the sensor, of the rear of the vehicle is acquired, and the sensor is controlled to be closed.
In the embodiment of the application, the initial environmental information and the current environmental information can be acquired by the sensor. When the parking is cut into the P gear, the vehicle does not move any more, the sensor can be closed, and when the back door is opened, the sensor is activated again when the sensor is detected to be required to be activated, so that the power consumption of the sensor is further reduced.
In one possible implementation, S102 may include:
s1021: determining the position of a door operator according to the back door opening signal;
s1022: determining a space state behind the vehicle according to the initial environment information; the vehicle rear space state is used for representing whether the rear environment of the vehicle is changed or not;
s1023: and determining whether the sensor needs to be activated according to the position of the door opener and the space state behind the vehicle.
If the environment behind the vehicle is not changed and is relatively safe, the sensor can be deactivated; if the rear environment of the vehicle changes, the risk of collision increases and it may be necessary to activate the sensor. Further, if the door opener is located near the back door, the collision risk can be found in time to avoid collision, and the sensor can be not activated; if the door opener is not located near the back door, collision risk cannot be found in time. Based on the above, the embodiment of the application can comprehensively determine whether the sensor needs to be activated or not according to the position of the door opener and the space state behind the vehicle.
For example, if the vehicle is behind a wall, it is assumed that the environment behind the vehicle does not change; if the back is a sidewalk, pedestrians can pass through, the environment behind the vehicle is presumed to be possibly changed, and whether the back door is opened or not is reflected to a certain extent. The embodiment of the application further adds the position of the door opener, and comprehensively judges the position and the position of the door opener, thereby effectively improving the control accuracy and the safety of opening the back door.
In one possible embodiment, the door opener's position may include: near the back door and near the non-back door; the space state behind the vehicle comprises: the space behind the vehicle is fixed and the space behind the vehicle is not fixed; s1023 may include:
1. if the door opener is positioned near the non-back door and the space state behind the vehicle is that the space behind the vehicle is not fixed, activating the sensor;
2. otherwise, the sensor is not activated.
Specifically, the rear space is fixed to indicate that the probability that a moving object passes through the rear space is smaller than the preset probability; the rear space is not fixed and is used for indicating that the probability that the rear space has a moving object to pass through is not smaller than the preset probability.
In the embodiment of the application, when the door opener is near the back door, the door opener can timely react to avoid collision of the back door. When the state of the space behind the vehicle is fixed, the probability that a moving object passes through the space behind the vehicle is small, other barriers can not appear in the rear large probability, and the space behind the vehicle is relatively safe. Only when the door opener is not near the back door, and the state of the space behind the vehicle is not fixed, the probability that a moving object passes through in the space behind the vehicle is larger, the collision risk is also larger, the sensor can be activated to detect again, the power consumption of the sensor is greatly reduced, and meanwhile, the safety of opening the back door is guaranteed.
In one possible embodiment, S1022 may include:
1. and inputting the initial environmental information into a neural network model to obtain the space state behind the vehicle.
In the embodiment of the application, a neural network model is adopted to judge the space state behind the vehicle. For example, a wall body, a green belt and the like are used as fixed samples of a vehicle rear space, a zebra stripes, a parking space and the like are used as unfixed samples of the vehicle rear space, and various different space state samples are used for training the model, so that different vehicle rear space states are distinguished.
In one possible implementation, S1021 may include:
1. if the back door opening signal is a back door opening signal or a kick signal, determining that the position of the door opener is near the back door;
2. if the back door opening signal is a main driving switching signal, a voice opening signal or an APP opening signal, determining that the position of a door opener is near the non-back door;
3. if the back door opening signal is a key opening signal, determining a sending position of the key opening signal according to the key opening signal, and determining the position of a door opener according to the sending position.
The back door switch signal is a signal sent by a user by pressing a switch on the back door, the foot kick signal is a signal sent by a foot kick sensor detected by the foot kick sensor, and the two signals are operated by a door opener standing behind a vehicle, so that the situation that the door opener is near the back door is described;
the main driving switch signal is a signal sent by a door opener when pressing a back door opening switch in a vehicle, the voice opening signal is a signal sent by the door opener when controlling the back door to be opened through voice in the vehicle, the APP opening signal is usually sent remotely, and the three signals all indicate that the door opener is not near the back door.
For the key-on signal, the door operator may be near the back door, possibly in the car or at other locations, so that the position of the door operator may be determined according to the key-on signal, thereby determining that the position of the door operator is near the back door or near the non-back door.
In particular, the key-on signal is typically a radio signal, and the position of the key, i.e. the position of the door opener, can be determined by the key-on signal. The specific determination method is the prior art and will not be described herein.
In one possible embodiment, the sensor may be a camera.
Based on the scheme, the sensor is preferably a camera because the environmental information behind the vehicle acquired by the camera is richer in characteristics and higher in detection accuracy.
In one possible implementation, S103 may include:
s1031: acquiring the length of a pre-stored back door;
s1032: and determining the opening according to the length of the pre-stored back door and the first safety distance.
Specifically, the included angle between the back door and the vertical direction after the back door is opened is an opening, and the opening can be obtained through calculation according to the cosine theorem. The details are not described in detail.
The same method is used to determine the opening of the back door according to the second safety distance.
The execution subject of the method described above may be a vehicle controller, or a plurality of controllers may be completed cooperatively.
For example, the vehicle body controller 21 acquires a back door opening signal and determines whether or not a door opener is in the vicinity of the back door (a space state behind the vehicle), and sends it to the intelligent driving controller 22;
the intelligent driving controller 22 acquires the initial environmental information and determines the space state behind the vehicle based on the initial environmental information, and determines whether the sensor needs to be activated in combination with the space state behind the vehicle. If activation is not required, the first safety distance is sent to the back door controller 23; if the activation is needed, the activation sensor re-acquires the current environment information and then sends the second safety distance to the back door controller 23;
the back door controller 23 receives the safety distances (the first safety distance and the second safety distance), determines the opening degree according to the safety distances, and controls the back door to open.
The three controllers cooperate to complete the overall control process, with particular reference to FIG. 2.
The back door driving system includes 2 lifting motors and 1 door lock motor. The lifting motor is used for providing power for opening the door and feeding back the current position of the tail door through a hall signal so as to drive the vehicle door to a preset opening degree. The door lock motor is used for unlocking and locking functions.
When the door is opened: the back door controller 23 firstly controls the door lock motor to unlock, and after unlocking is completed, the back door controller 23 drives the lifting motor to open the door. During the door opening process, the lifting motor feeds back a hall signal, and the back door controller 23 determines the position of the door according to the pulse of the hall signal. When the number of pulses reaches a set value (the preset value is calculated by the opening degree), that is, the back door reaches the preset opening degree, the back door controller 23 turns off the lift motor.
When the door is closed: the back door controller 23 drives the lift motor to close the door when receiving the door closing signal. When the back door runs to the bottom, the door lock motor is buckled and sends a locking signal; the back door controller 23 receives the ground locking signal, controls the lifting motor to be turned off, and controls the door lock motor to be locked.
Further, the electric back door control method may also include some conventional functions,
for example, door open, door close, hover functions: the back door opening signal may be generated by a door control key in the vehicle. When the back door is closed, the door control key is pressed down, and the back door is opened. After the door is opened in place, the door control key is pressed again, and the back door is closed. If a door control key is pressed in the door opening or closing process, the back door hovers; pressing the gating button again after hovering will move in the opposite direction of motion before hovering. If the opening of the door is too small during hovering, the back door can be opened by pressing the door control key again.
Setting the height of the door: the vehicle may be further provided with an opening degree setting switch for setting the opening degree to a maximum opening degree of the back door by long-pressing the opening degree setting switch after opening the back door to a preset opening degree.
Anti-pinch function: the vehicle may also be provided with anti-pinch strips. In the back door movement process, if the resistance is larger than a preset value, the back door can change the movement direction or stop moving.
The door opening function is kicked by feet: the vehicle may also be provided with a kick sensor that controls the back door to open when a kick motion is detected.
The following function: when a user pulls down the back door quickly, the back door recognizes the intention of the user to close the door, and the back door can be automatically closed.
It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic, and should not limit the implementation process of the embodiment of the present application.
The following are device embodiments of the application, for details not described in detail therein, reference may be made to the corresponding method embodiments described above.
Fig. 3 is a schematic structural view of an electric back door control device according to an embodiment of the present application, which is applied to a vehicle, and a sensor is disposed on the vehicle; for convenience of explanation, only the portions related to the embodiments of the present application are shown, and the details are as follows:
as shown in fig. 3, the electric back door control device includes:
the parameter obtaining module 31 is configured to obtain initial environmental information of the rear of the vehicle detected by the sensor when it is detected that the vehicle is shifted to the parking range, and control the sensor to be turned off;
the activation judging module 32 is configured to determine whether the sensor needs to be activated according to initial environmental information and the back door opening signal at the rear of the vehicle when the back door opening signal is received;
the first opening determining module 33 is configured to control activation of the sensor if the first opening determining module is on, acquire current environmental information of the rear of the vehicle detected by the sensor, determine a first safety distance of the rear of the vehicle according to the current environmental information, and determine an opening of the back door according to the first safety distance;
a second opening determining module 34, configured to determine a second safety distance behind the vehicle according to the initial environmental information, and determine an opening of the back door according to the second safety distance, if not;
and an opening module 35, configured to control the back door to be opened according to the opening degree.
In one possible implementation, the activation determination module 32 may include:
the position determining unit is used for determining the position of a door operator according to the back door opening signal;
the space state determining unit is used for determining the space state behind the vehicle according to the initial environment information; the vehicle rear space state is used for representing whether the rear environment of the vehicle is changed or not;
and the activation judging unit is used for determining whether the sensor needs to be activated according to the position of the door opener and the space state behind the vehicle.
In one possible embodiment, the door opener's position includes: near the back door and near the non-back door; the space state behind the vehicle comprises: the space behind the vehicle is fixed and the space behind the vehicle is not fixed; the activation judging unit may include:
the first judging subunit is used for activating the sensor if the position of the door opener is near the non-back door and the state of the space behind the vehicle is that the space behind the vehicle is not fixed;
and the second judging subunit is used for not activating the sensor if not.
In one possible embodiment, the spatial state determination unit may include:
and the model judging subunit is used for inputting the initial environment information into the neural network model to obtain the space state behind the vehicle.
In one possible embodiment, the position determining unit may comprise:
the third judging subunit is used for determining that the position of the door opener is near the back door if the back door opening signal is a back door opening signal or a kick signal;
a fourth judging subunit, configured to determine that the position of the door opener is near the non-back door if the back door opening signal is a main driving switching signal, a voice opening signal or an APP opening signal;
and the fifth judging subunit is used for determining the sending position of the key opening signal according to the key opening signal if the back door opening signal is the key opening signal, and determining the position of the door opener according to the sending position.
In one possible embodiment, the sensor may be a camera.
In one possible implementation, the first opening determining module 33 may be specifically configured to:
acquiring the length of a pre-stored back door; and determining the opening according to the length of the pre-stored back door and the first safety distance.
Fig. 4 is a schematic view of an automobile according to an embodiment of the present application. As shown in fig. 4, the automobile 4 of this embodiment includes: a processor 40 and a memory 41. The memory 41 is used for storing a computer program 42, and the processor 40 is used for calling and running the computer program 42 stored in the memory 41 to perform the steps in the above-described respective embodiments of the electric back door control method, such as steps S101 to S105 shown in fig. 1. Alternatively, the processor 40 is configured to invoke and run the computer program 42 stored in the memory 41 to implement the functions of the modules/units in the above-described device embodiments, such as the functions of the modules 31 to 35 shown in fig. 3.
By way of example, the computer program 42 may be partitioned into one or more modules/units, which are stored in the memory 41 and executed by the processor 40 to complete the present application. One or more of the modules/units may be a series of computer program instruction segments capable of performing specific functions for describing the execution of the computer program 42 in the car 4. For example, the computer program 42 may be split into the modules/units 31 to 35 shown in fig. 3.
The automobile 4 may include, but is not limited to, a processor 40, a memory 41. It will be appreciated by those skilled in the art that fig. 4 is merely an example of the vehicle 4 and is not intended to limit the vehicle 4, and may include more or fewer components than shown, or may combine certain components, or different components, e.g., a terminal may further include an input-output device, a network access device, a bus, etc.
The processor 40 may be a central processing unit (Central Processing Unit, CPU), other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field-programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 41 may be an internal storage unit of the car 4, such as a hard disk or a memory of the car 4. The memory 41 may also be an external storage device of the automobile 4, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card) or the like, which are provided on the automobile 4. Further, the memory 41 may also include both an internal memory unit and an external memory device of the automobile 4. The memory 41 is used to store computer programs and other programs and data required by the terminal. The memory 41 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, the specific names of the functional units and modules are only for distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/terminal and method may be implemented in other manners. For example, the apparatus/terminal embodiments described above are merely illustrative, e.g., the division of modules or units is merely a logical functional division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated modules/units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present application may implement all or part of the flow of the method of the above embodiment, or may be implemented by a computer program to instruct related hardware, and the computer program may be stored in a computer readable storage medium, where the computer program, when executed by a processor, may implement the steps of each of the method embodiments described above. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, executable files or in some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth.
The above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.
Claims (10)
1. The electric back door control method is characterized by being applied to a vehicle, wherein a sensor is arranged on the vehicle; the method comprises the following steps:
when the vehicle is detected to be switched to a parking gear, acquiring initial environment information behind the vehicle;
when a back door opening signal is received, determining whether the sensor needs to be activated or not according to initial environment information behind the vehicle and the back door opening signal;
if yes, controlling the sensor to activate, acquiring current environment information of the rear of the vehicle, which is detected by the sensor, determining a first safety distance of the rear of the vehicle according to the current environment information, and determining the opening of a back door according to the first safety distance;
if not, determining a second safety distance behind the vehicle according to the initial environment information, and determining the opening of the back door according to the second safety distance;
and controlling the back door to be opened according to the opening degree.
2. The electric back door control method according to claim 1, wherein the determining whether the sensor needs to be activated according to initial environmental information behind the vehicle and the back door opening signal when the back door opening signal is received comprises:
determining the position of a door operator according to the back door opening signal;
determining a space state behind the vehicle according to the initial environment information; the vehicle rear space state is used for representing whether the rear environment of the vehicle is changed or not;
and determining whether the sensor needs to be activated according to the position of the door opener and the space state behind the vehicle.
3. The electric back door control method according to claim 2, wherein the door opener position includes: near the back door and near the non-back door; the space state behind the vehicle comprises: the space behind the vehicle is fixed and the space behind the vehicle is not fixed; the determining whether the sensor needs to be activated according to the position of the door opener and the space state behind the vehicle comprises the following steps:
if the door opener is positioned near the non-back door and the space state behind the vehicle is that the space behind the vehicle is not fixed, activating the sensor;
otherwise, the sensor is not activated.
4. The electric back door control method according to claim 2, wherein the determining the vehicle rear space state from the initial environmental information includes:
and inputting the initial environmental information into a neural network model to obtain the space state behind the vehicle.
5. The electric back door control method according to claim 2, wherein the determining the position of the door opener according to the back door opening signal includes:
if the back door opening signal is a back door opening signal or a kick signal, determining that the position of the door opener is near the back door;
if the back door opening signal is a main driving switching signal, a voice opening signal or an APP opening signal, determining that the position of the door opener is near a non-back door;
if the back door opening signal is a key opening signal, determining a sending position of the key opening signal according to the key opening signal, and determining the position of the door opener according to the sending position.
6. A method of controlling a motorized tailgate according to any one of claims 1 to 5 wherein the sensor is a camera.
7. The electric back door control method according to any one of claims 1 to 5, wherein the determining the opening degree of the back door according to the first safety distance includes:
acquiring the length of the pre-stored back door;
and determining the opening according to the pre-stored length of the back door and the first safety distance.
8. An electric back door control device is characterized by being applied to a vehicle, wherein a sensor is arranged on the vehicle; the device comprises:
the parameter acquisition module is used for acquiring initial environment information behind the vehicle when the vehicle is detected to be switched to a parking gear;
the activation judging module is used for determining whether the sensor needs to be activated or not according to the initial environment information behind the vehicle and the back door opening signal when the back door opening signal is received;
the first opening determining module is used for controlling the sensor to be activated if the vehicle is in a vehicle-mounted state, acquiring current environment information of the rear of the vehicle, which is detected by the sensor, determining a first safety distance of the rear of the vehicle according to the current environment information, and determining the opening of a back door according to the first safety distance;
the second opening determining module is used for determining a second safety distance behind the vehicle according to the initial environment information and determining the opening of the back door according to the second safety distance if not;
and the opening module is used for controlling the back door to be opened according to the opening degree.
9. A vehicle comprising a processor and a memory, the memory for storing a computer program, the processor for invoking and running the computer program stored in the memory to perform the electric tailgate control method of any one of claims 1 to 7.
10. A computer-readable storage medium storing a computer program, characterized in that the computer program, when executed by a processor, implements the steps of the electric tailgate control method according to any one of the preceding claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310670669.0A CN116575832A (en) | 2023-06-07 | 2023-06-07 | Electric back door control method and device, vehicle and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310670669.0A CN116575832A (en) | 2023-06-07 | 2023-06-07 | Electric back door control method and device, vehicle and storage medium |
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| Publication Number | Publication Date |
|---|---|
| CN116575832A true CN116575832A (en) | 2023-08-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310670669.0A Pending CN116575832A (en) | 2023-06-07 | 2023-06-07 | Electric back door control method and device, vehicle and storage medium |
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| Country | Link |
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| CN (1) | CN116575832A (en) |
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2023
- 2023-06-07 CN CN202310670669.0A patent/CN116575832A/en active Pending
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